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<div class="title">sparse_block_matrix.hpp</div>  </div>
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<a href="sparse__block__matrix_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="keyword">using namespace </span><a class="code" href="namespace_eigen.html">Eigen</a>;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="namespaceg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03.html">   30</a></span>&#160;  <span class="keyword">namespace </span>{</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html">   31</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html">TripletEntry</a></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    {</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#aaf43f6d8813032dff27b030c7eb13d2e">   33</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#aaf43f6d8813032dff27b030c7eb13d2e">r</a>, c;</div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#ae2cbccda57352eaf870198940af95e99">   34</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#ae2cbccda57352eaf870198940af95e99">x</a>;</div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#a68078c194caa88636a2e8d8ebd8661f8">   35</a></span>&#160;      <a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#a68078c194caa88636a2e8d8ebd8661f8">TripletEntry</a>(<span class="keywordtype">int</span> r_, <span class="keywordtype">int</span> c_, <span class="keywordtype">double</span> x_) : r(r_), c(c_), x(x_) {}</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    };</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_col_sort.html">   37</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_col_sort.html">TripletColSort</a></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    {</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_col_sort.html#a600a65b4797374baef2e49ea1b293bb8">   39</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_col_sort.html#a600a65b4797374baef2e49ea1b293bb8">operator()</a>(<span class="keyword">const</span> <a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html">TripletEntry</a>&amp; e1, <span class="keyword">const</span> <a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html">TripletEntry</a>&amp; e2)<span class="keyword"> const</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">      </span>{</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        <span class="keywordflow">return</span> e1.<a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#a3c423a9ef45d82b5a0df3801a29b38f7">c</a> &lt; e2.<a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#a3c423a9ef45d82b5a0df3801a29b38f7">c</a> || (e1.<a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#a3c423a9ef45d82b5a0df3801a29b38f7">c</a> == e2.<a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#a3c423a9ef45d82b5a0df3801a29b38f7">c</a> &amp;&amp; e1.<a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#aaf43f6d8813032dff27b030c7eb13d2e">r</a> &lt; e2.<a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#aaf43f6d8813032dff27b030c7eb13d2e">r</a>);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      }</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    };</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> T1, <span class="keyword">class</span> T2, <span class="keyword">class</span> Pred = std::less&lt;T1&gt; &gt;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_cmp_pair_first.html">   46</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_cmp_pair_first.html">CmpPairFirst</a> {</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_cmp_pair_first.html#a5446ea4001b47b4d4f83cee9d13b07d4">   47</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_cmp_pair_first.html#a5446ea4001b47b4d4f83cee9d13b07d4">operator()</a>(<span class="keyword">const</span> std::pair&lt;T1,T2&gt;&amp; left, <span class="keyword">const</span> std::pair&lt;T1,T2&gt;&amp; right) {</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <span class="keywordflow">return</span> Pred()(left.first, right.first);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      }</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    };</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  }</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#a0407f26837522322d7b7fd7a5259ee3c">   54</a></span>&#160;  <a class="code" href="classg2o_1_1_sparse_block_matrix.html#af9b8a9cb09a88bc444775a9974db8760">SparseBlockMatrix&lt;MatrixType&gt;::SparseBlockMatrix</a>( <span class="keyword">const</span> <span class="keywordtype">int</span> * rbi, <span class="keyword">const</span> <span class="keywordtype">int</span>* cbi, <span class="keywordtype">int</span> rb, <span class="keywordtype">int</span> cb, <span class="keywordtype">bool</span> hasStorage):</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    _rowBlockIndices(rbi,rbi+rb),</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    _colBlockIndices(cbi,cbi+cb),</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    _blockCols(cb), _hasStorage(hasStorage) </div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  }</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#af9b8a9cb09a88bc444775a9974db8760">   62</a></span>&#160;  <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::SparseBlockMatrix</a>( ):</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    _blockCols(0), _hasStorage(true) </div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  {</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  }</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#af14b7aaa588b339f2c06793fcc0d4e09">   68</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::clear</a>(<span class="keywordtype">bool</span> dealloc) {</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="preprocessor">#   ifdef G2O_OPENMP</span></div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="preprocessor">#   pragma omp parallel for default (shared) if (_blockCols.size() &gt; 100)</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="preprocessor">#   endif</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i &lt; static_cast&lt;int&gt;(_blockCols.size()); ++i) {</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* b=it-&gt;second;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keywordflow">if</span> (_hasStorage &amp;&amp; dealloc)</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          <span class="keyword">delete</span> b;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          b-&gt;setZero();</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      }</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keywordflow">if</span> (_hasStorage &amp;&amp; dealloc)</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        _blockCols[i].<a class="code" href="classg2o_1_1_sparse_block_matrix.html#af14b7aaa588b339f2c06793fcc0d4e09">clear</a>();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    }</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  }</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#a70d18ec0265a69e1291083e20a5bc95e">   86</a></span>&#160;  <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::~SparseBlockMatrix</a>(){</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordflow">if</span> (_hasStorage)</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      clear(<span class="keyword">true</span>);</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  }</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#aaca7b38d2e9a18eebf9e6f5957af0cf7">   92</a></span>&#160;  <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::block</a>(<span class="keywordtype">int</span> r, <span class="keywordtype">int</span> c, <span class="keywordtype">bool</span> alloc) {</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::iterator</a> it =_blockCols[c].find(r);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* _block=0;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">if</span> (it==_blockCols[c].end()){</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordflow">if</span> (!_hasStorage &amp;&amp; ! alloc )</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordflow">else</span> {</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordtype">int</span> rb=rowsOfBlock(r);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keywordtype">int</span> cb=colsOfBlock(c);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        _block=<span class="keyword">new</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>(rb,cb);</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        _block-&gt;setZero();</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        std::pair &lt; typename SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::iterator, <span class="keywordtype">bool</span>&gt; result</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          =_blockCols[c].insert(std::make_pair(r,_block)); (void) result;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        assert (result.second);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      }</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      _block=it-&gt;second;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    }</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordflow">return</span> _block;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  }</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#aa8268815dbc660a4aa04c4360e3e9e2c">  114</a></span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::block</a>(<span class="keywordtype">int</span> r, <span class="keywordtype">int</span> c)<span class="keyword"> const </span>{</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it =_blockCols[c].find(r);</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordflow">if</span> (it==_blockCols[c].end())</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordflow">return</span> it-&gt;second;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  }</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#aacf3c757056cfb81e510e3005a07278e">  123</a></span>&#160;  <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;</a>* <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::clone</a>()<span class="keyword"> const </span>{</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>* ret= <span class="keyword">new</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>(&amp;_rowBlockIndices[0], &amp;_colBlockIndices[0], _rowBlockIndices.size(), _colBlockIndices.size());</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i&lt;_blockCols.size(); ++i){</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* b=<span class="keyword">new</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>(*it-&gt;second);</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        ret-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ae236d56a01ba4d292450a518621b41f8">_blockCols</a>[i].insert(std::make_pair(it-&gt;first, b));</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      }</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    }</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    ret-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ae3f063a5efc2708b41806ac361fd3ca6">_hasStorage</a>=<span class="keyword">true</span>;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  }</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixTransposedType&gt;</div><div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#a2d449bb4054991867a9b50b6c0d978eb">  138</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::transpose</a>(<a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixTransposedType&gt;</a>*&amp; dest)<span class="keyword"> const </span>{</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keywordflow">if</span> (! dest){</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      dest=<span class="keyword">new</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixTransposedType&gt;</a>(&amp;_colBlockIndices[0], &amp;_rowBlockIndices[0], _colBlockIndices.size(), _rowBlockIndices.size());</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keywordflow">if</span> (! dest-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ae3f063a5efc2708b41806ac361fd3ca6">_hasStorage</a>)</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordflow">if</span>(_rowBlockIndices.size()!=dest-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aca008740c37d2d00b90f696ab19abb59">_colBlockIndices</a>.size())</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keywordflow">if</span> (_colBlockIndices.size()!=dest-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab0bd9c6d5b7b8704af1bc679032382e3">_rowBlockIndices</a>.size())</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; 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i&lt;_colBlockIndices.size(); ++i){</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordflow">if</span>(_colBlockIndices[i]!=dest-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab0bd9c6d5b7b8704af1bc679032382e3">_rowBlockIndices</a>[i])</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      }</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    }</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i&lt;_blockCols.size(); ++i){</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* s=it-&gt;second;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixTransposedType&gt;::SparseMatrixBlock</a>* d=dest-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaca7b38d2e9a18eebf9e6f5957af0cf7">block</a>(i,it-&gt;first,<span class="keyword">true</span>);</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; 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       <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* d=dest-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaca7b38d2e9a18eebf9e6f5957af0cf7">block</a>(it-&gt;first,i,<span class="keyword">true</span>);</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        (*d)+=*s;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      }</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    }</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  }</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="keyword">template</span> &lt; <span class="keyword">class</span> MatrixResultType, <span class="keyword">class</span> MatrixFactorType &gt;</div><div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#abd1aa3a3ed3278b82945151b02223e1c">  200</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::multiply</a>(<a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixResultType&gt;</a>*&amp; dest, <span class="keyword">const</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixFactorType&gt;</a> * M)<span class="keyword"> const </span>{</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="comment">// sanity check</span></div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordflow">if</span> (_colBlockIndices.size()!=M-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab0bd9c6d5b7b8704af1bc679032382e3">_rowBlockIndices</a>.size())</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i&lt;_colBlockIndices.size(); ++i){</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keywordflow">if</span> (_colBlockIndices[i]!=M-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab0bd9c6d5b7b8704af1bc679032382e3">_rowBlockIndices</a>[i])</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    }</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordflow">if</span> (! dest) {</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      dest=<span class="keyword">new</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixResultType&gt;</a>(&amp;_rowBlockIndices[0],&amp;(M-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aca008740c37d2d00b90f696ab19abb59">_colBlockIndices</a>[0]), _rowBlockIndices.size(), M-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aca008740c37d2d00b90f696ab19abb59">_colBlockIndices</a>.size() );</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    }</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordflow">if</span> (! dest-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ae3f063a5efc2708b41806ac361fd3ca6">_hasStorage</a>)</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i&lt;M-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ae236d56a01ba4d292450a518621b41f8">_blockCols</a>.size(); ++i){</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixFactorType&gt;::IntBlockMap::const_iterator</a> it=M-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ae236d56a01ba4d292450a518621b41f8">_blockCols</a>[i].begin(); it!=M-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ae236d56a01ba4d292450a518621b41f8">_blockCols</a>[i].end(); ++it){</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <span class="comment">// look for a non-zero block in a row of column it</span></div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <span class="keywordtype">int</span> colM=i;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixFactorType&gt;::SparseMatrixBlock</a> *b=it-&gt;second;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> rbt=_blockCols[it-&gt;first].begin();</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; 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         assert (c-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">rows</a>()==a-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">rows</a>());</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;          assert (c-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">cols</a>()==b-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">cols</a>());</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          ++rbt;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          (*c)+=(*a)*(*b);</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        }</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      }</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    }</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  }</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#ae71075d1c8e421389316712d12ba1598">  235</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::multiply</a>(<span class="keywordtype">double</span>*&amp; dest, <span class="keyword">const</span> <span class="keywordtype">double</span>* src)<span class="keyword"> const </span>{</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; 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srcVec(src, cols());</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i&lt;_blockCols.size(); ++i){</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <span class="keywordtype">int</span> srcOffset = i ? _colBlockIndices[i-1] : 0;</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* a=it-&gt;second;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; 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         <span class="keywordflow">break</span>;</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        <span class="comment">// destVec += *a * srcVec (according to the sub-vector parts)</span></div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        <a class="code" href="namespaceg2o_1_1internal.html#a3beb413c2d04c629c60a8ce5e05ddf8f">internal::axpy</a>(*a, srcVec, srcOffset, destVec, destOffset);</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;        <span class="keywordflow">if</span> (destOffset &lt; srcOffset)</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;          <a class="code" href="namespaceg2o_1_1internal.html#ad176878dff85b91f1dbabed52cbf696e">internal::atxpy</a>(*a, srcVec, destOffset, destVec, srcOffset);</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      }</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    }</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  }</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#a7efaf2e4ea855f6faf500f9feacf3d3e">  285</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::rightMultiply</a>(<span class="keywordtype">double</span>*&amp; dest, <span class="keyword">const</span> <span class="keywordtype">double</span>* src)<span class="keyword"> const </span>{</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="keywordtype">int</span> destSize=cols();</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="keywordflow">if</span> (! dest){</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      dest=<span class="keyword">new</span> <span class="keywordtype">double</span> [ destSize ];</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      memset(dest,0, destSize*<span class="keyword">sizeof</span>(<span class="keywordtype">double</span>));</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    }</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="comment">// map the memory by Eigen</span></div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    Eigen::Map&lt;VectorXd&gt; destVec(dest, destSize);</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    Eigen::Map&lt;const VectorXd&gt; srcVec(src, rows());</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;<span class="preprocessor">#   ifdef G2O_OPENMP</span></div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;<span class="preprocessor">#   pragma omp parallel for default (shared) schedule(dynamic, 10)</span></div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<span class="preprocessor">#   endif</span></div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i &lt; static_cast&lt;int&gt;(_blockCols.size()); ++i){</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      <span class="keywordtype">int</span> destOffset = colBaseOfBlock(i);</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it=_blockCols[i].begin(); </div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;          it!=_blockCols[i].end(); </div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          ++it){</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* a=it-&gt;second;</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        <span class="keywordtype">int</span> srcOffset = rowBaseOfBlock(it-&gt;first);</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        <span class="comment">// destVec += *a.transpose() * srcVec (according to the sub-vector parts)</span></div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        <a class="code" href="namespaceg2o_1_1internal.html#ad176878dff85b91f1dbabed52cbf696e">internal::atxpy</a>(*a, srcVec, srcOffset, destVec, destOffset);</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      }</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    }</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    </div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  }</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00315"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#afbccb3c0404beeba566e21429089e288">  315</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::scale</a>(<span class="keywordtype">double</span> a_) {</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i&lt;_blockCols.size(); ++i){</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* a=it-&gt;second;</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        *a *= a_;</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      }</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    }</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  }</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00325"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#a7ccb3f90afe0d190fbc94df5f0313763">  325</a></span>&#160;  <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;</a>*  <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::slice</a>(<span class="keywordtype">int</span> rmin, <span class="keywordtype">int</span> rmax, <span class="keywordtype">int</span> cmin, <span class="keywordtype">int</span> cmax, <span class="keywordtype">bool</span> alloc)<span class="keyword"> const </span>{</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="keywordtype">int</span> m=rmax-rmin;</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    <span class="keywordtype">int</span> n=cmax-cmin;</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    <span class="keywordtype">int</span> rowIdx [m];</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    rowIdx[0] = rowsOfBlock(rmin);</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=1; i&lt;m; ++i){</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      rowIdx[i]=rowIdx[i-1]+rowsOfBlock(rmin+i);</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    }</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <span class="keywordtype">int</span> colIdx [n];</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    colIdx[0] = colsOfBlock(cmin);</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=1; i&lt;n; ++i){</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      colIdx[i]=colIdx[i-1]+colsOfBlock(cmin+i);</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    }</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::SparseBlockMatrix</a>* s=<span class="keyword">new</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>(rowIdx, colIdx, m, n, <span class="keyword">true</span>);</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;n; ++i){</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      <span class="keywordtype">int</span> mc=cmin+i;</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it=_blockCols[mc].begin(); it!=_blockCols[mc].end(); ++it){</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        <span class="keywordflow">if</span> (it-&gt;first &gt;= rmin &amp;&amp; it-&gt;first &lt; rmax){</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;          <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* b = alloc ? <span class="keyword">new</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a> (* (it-&gt;second) ) : it-&gt;second;</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;          s-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ae236d56a01ba4d292450a518621b41f8">_blockCols</a>[i].insert(std::make_pair(it-&gt;first-rmin, b));</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        }</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      }</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    }</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    s-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ae3f063a5efc2708b41806ac361fd3ca6">_hasStorage</a>=alloc;</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    <span class="keywordflow">return</span> s;</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  }</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#a3f9e289e4039e668d33ad565a637e39a">  354</a></span>&#160;  <span class="keywordtype">size_t</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::nonZeroBlocks</a>()<span class="keyword"> const </span>{</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    <span class="keywordtype">size_t</span> count=0;</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i&lt;_blockCols.size(); ++i)</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      count+=_blockCols[i].size();</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    <span class="keywordflow">return</span> count;</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  }</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; 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   } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      <span class="keywordtype">size_t</span> count=0;</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i&lt;_blockCols.size(); ++i){</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;          <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* a=it-&gt;second;</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; 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it!=m.blockCols()[i].end(); ++it){</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;        <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* b=it-&gt;second;</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        os &lt;&lt; <span class="stringliteral">&quot;BLOCK: &quot;</span> &lt;&lt; it-&gt;first &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; i &lt;&lt; std::endl;</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        os &lt;&lt; *b &lt;&lt; std::endl;</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      }</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    }</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    <span class="keywordflow">return</span> os;</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  }</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00400"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#a0dcf826fe329e922eae1ea92c73c7b23">  400</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::symmPermutation</a>(<a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;</a>*&amp; dest, <span class="keyword">const</span> <span class="keywordtype">int</span>* pinv, <span class="keywordtype">bool</span>  upperTriangle)<span class="keyword"> const</span>{</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    <span class="comment">// compute the permuted version of the new row/column layout</span></div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    <span class="keywordtype">size_t</span> n=_rowBlockIndices.size();</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    <span class="comment">// computed the block sizes</span></div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    <span class="keywordtype">int</span> blockSizes[_rowBlockIndices.size()];</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    blockSizes[0]=_rowBlockIndices[0];</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=1; i&lt;n; ++i){</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      blockSizes[i]=_rowBlockIndices[i]-_rowBlockIndices[i-1];</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    }</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    <span class="comment">// permute them</span></div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    <span class="keywordtype">int</span> pBlockIndices[_rowBlockIndices.size()];</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i&lt;n; ++i){</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      pBlockIndices[pinv[i]]=blockSizes[i];</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    }</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=1; i&lt;n; ++i){</div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      pBlockIndices[i]+=pBlockIndices[i-1];</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    }</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    <span class="comment">// allocate C, or check the structure;</span></div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    <span class="keywordflow">if</span> (! dest){</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;      dest=<span class="keyword">new</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>(pBlockIndices, pBlockIndices, n, n);</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      <span class="keywordflow">if</span> (dest-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab0bd9c6d5b7b8704af1bc679032382e3">_rowBlockIndices</a>.size()!=n)</div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;      <span class="keywordflow">if</span> (dest-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aca008740c37d2d00b90f696ab19abb59">_colBlockIndices</a>.size()!=n)</div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i&lt;n; ++i){</div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <span class="keywordflow">if</span> (dest-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab0bd9c6d5b7b8704af1bc679032382e3">_rowBlockIndices</a>[i]!=pBlockIndices[i])</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        <span class="keywordflow">if</span> (dest-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aca008740c37d2d00b90f696ab19abb59">_colBlockIndices</a>[i]!=pBlockIndices[i])</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      }</div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      dest-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#af14b7aaa588b339f2c06793fcc0d4e09">clear</a>();</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    }</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    <span class="comment">// now ready to permute the columns</span></div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; 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       <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* s=it-&gt;second;</div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;</div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;        <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* b=0;</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;        <span class="keywordflow">if</span> (! upperTriangle || pj&lt;=pi) {</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;          b=dest-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaca7b38d2e9a18eebf9e6f5957af0cf7">block</a>(pj,pi,<span class="keyword">true</span>);</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;          assert(b-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">cols</a>()==s-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">cols</a>());</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;          assert(b-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">rows</a>()==s-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">rows</a>());</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;          *b=*s;</div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;          b=dest-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaca7b38d2e9a18eebf9e6f5957af0cf7">block</a>(pi,pj,<span class="keyword">true</span>);</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;          assert(b);</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;          assert(b-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">rows</a>()==s-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">cols</a>());</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;          assert(b-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">cols</a>()==s-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">rows</a>());</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;          *b=s-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#a2d449bb4054991867a9b50b6c0d978eb">transpose</a>();</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        }</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;      }</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;      <span class="comment">//cerr &lt;&lt; endl;</span></div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;      <span class="comment">// within each row, </span></div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    }</div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    </div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;  }</div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;</div><div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00465"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#ac01f380ada64511737cb97631d39a9e8">  465</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::fillCCS</a>(<span class="keywordtype">double</span>* Cx, <span class="keywordtype">bool</span> upperTriangle)<span class="keyword"> const</span></div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;<span class="keyword">  </span>{</div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    assert(Cx &amp;&amp; <span class="stringliteral">&quot;Target destination is NULL&quot;</span>);</div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    <span class="keywordtype">double</span>* CxStart = Cx;</div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i&lt;_blockCols.size(); ++i){</div><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;      <span class="keywordtype">int</span> cstart=i ? _colBlockIndices[i-1] : 0;</div><div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      <span class="keywordtype">int</span> csize=colsOfBlock(i);</div><div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c=0; c&lt;csize; ++c) {</div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){</div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;          <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* b=it-&gt;second;</div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;          <span class="keywordtype">int</span> rstart=it-&gt;first ? _rowBlockIndices[it-&gt;first-1] : 0;</div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;</div><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;          <span class="keywordtype">int</span> elemsToCopy = b-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">rows</a>();</div><div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;          <span class="keywordflow">if</span> (upperTriangle &amp;&amp; rstart == cstart)</div><div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;            elemsToCopy = c + 1;</div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;          memcpy(Cx, b-&gt;data() + c*b-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">rows</a>(), elemsToCopy * <span class="keyword">sizeof</span>(double));</div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;          Cx += elemsToCopy;</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;</div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;        }</div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;      }</div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    }</div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;    <span class="keywordflow">return</span> Cx - CxStart;</div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  }</div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;</div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00490"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#a54b93e3ed8ccb6c30e694d417f7c336f">  490</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::fillCCS</a>(<span class="keywordtype">int</span>* Cp, <span class="keywordtype">int</span>* Ci, <span class="keywordtype">double</span>* Cx, <span class="keywordtype">bool</span> upperTriangle)<span class="keyword"> const</span></div><div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;<span class="keyword">  </span>{</div><div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;    assert(Cp &amp;&amp; Ci &amp;&amp; Cx &amp;&amp; <span class="stringliteral">&quot;Target destination is NULL&quot;</span>);</div><div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;    <span class="keywordtype">int</span> nz=0;</div><div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i&lt;_blockCols.size(); ++i){</div><div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;      <span class="keywordtype">int</span> cstart=i ? _colBlockIndices[i-1] : 0;</div><div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;      <span class="keywordtype">int</span> csize=colsOfBlock(i);</div><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c=0; c&lt;csize; ++c) {</div><div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;        *Cp=nz;</div><div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it){</div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;          <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseBlockMatrix&lt;MatrixType&gt;::SparseMatrixBlock</a>* b=it-&gt;second;</div><div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;          <span class="keywordtype">int</span> rstart=it-&gt;first ? _rowBlockIndices[it-&gt;first-1] : 0;</div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;</div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;          <span class="keywordtype">int</span> elemsToCopy = b-&gt;<a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">rows</a>();</div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;          <span class="keywordflow">if</span> (upperTriangle &amp;&amp; rstart == cstart)</div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;            elemsToCopy = c + 1;</div><div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> r=0; r&lt;elemsToCopy; ++r){</div><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;            *Cx++ = (*b)(r,c);</div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;            *Ci++ = rstart++;</div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;            ++nz;</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;          }</div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;        }</div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        ++Cp;</div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      }</div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    }</div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;    *Cp=nz;</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    <span class="keywordflow">return</span> nz;</div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;  }</div><div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;</div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00520"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#add5e7a5c95f2a6be69ededec4a043a94">  520</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::fillBlockStructure</a>(<a class="code" href="classg2o_1_1_matrix_structure.html">MatrixStructure</a>&amp; ms)<span class="keyword"> const</span></div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;<span class="keyword">  </span>{</div><div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;    <span class="keywordtype">int</span> n     = _colBlockIndices.size();</div><div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;    <span class="keywordtype">int</span> nzMax = (int)nonZeroBlocks();</div><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;</div><div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;    ms.<a class="code" href="classg2o_1_1_matrix_structure.html#aeda2f4fd97499545773af331cd2c10f2">alloc</a>(n, nzMax);</div><div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    ms.<a class="code" href="classg2o_1_1_matrix_structure.html#a9cceed2097dcbaa27ed88b7005440616">m</a> = _rowBlockIndices.size();</div><div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;</div><div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160; 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c = i;</div><div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it) {</div><div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; r = it-&gt;first;</div><div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;        <span class="keywordflow">if</span> (r &lt;= c) {</div><div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;          *Ci++ = r;</div><div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;          ++nz;</div><div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        }</div><div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;      }</div><div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;      Cp++;</div><div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;    }</div><div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;    *Cp=nz;</div><div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;    assert(nz &lt;= nzMax);</div><div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;  }</div><div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;</div><div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00548"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#a21725f29b3f1bbc4e4ba77ee3f960ddc">  548</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::writeOctave</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* filename, <span class="keywordtype">bool</span> upperTriangle)<span class="keyword"> const</span></div><div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;<span class="keyword">  </span>{</div><div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;    std::string name = filename;</div><div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;    std::string::size_type lastDot = name.find_last_of(<span class="charliteral">&#39;.&#39;</span>);</div><div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;    <span class="keywordflow">if</span> (lastDot != std::string::npos) </div><div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;      name = name.substr(0, lastDot);</div><div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;</div><div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    std::vector&lt;TripletEntry&gt; entries;</div><div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i&lt;_blockCols.size(); ++i){</div><div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; c = i;</div><div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::const_iterator</a> it=_blockCols[i].begin(); it!=_blockCols[i].end(); ++it) {</div><div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; r = it-&gt;first;</div><div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;        <span class="keyword">const</span> MatrixType&amp; m = *(it-&gt;second);</div><div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> cc = 0; cc &lt; m.cols(); ++cc)</div><div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> rr = 0; rr &lt; m.rows(); ++rr) {</div><div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;            <span class="keywordtype">int</span> aux_r = rowBaseOfBlock(r) + rr;</div><div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;            <span class="keywordtype">int</span> aux_c = colBaseOfBlock(c) + cc;</div><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;            entries.push_back(TripletEntry(aux_r, aux_c, m(rr, cc)));</div><div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;            <span class="keywordflow">if</span> (upperTriangle &amp;&amp; r != c) {</div><div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;              entries.push_back(TripletEntry(aux_c, aux_r, m(rr, cc)));</div><div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;            }</div><div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;          }</div><div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;      }</div><div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;    }</div><div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;</div><div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;    <span class="keywordtype">int</span> nz = entries.size();</div><div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;    std::sort(entries.begin(), entries.end(), TripletColSort());</div><div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;</div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;    std::ofstream fout(filename);</div><div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    fout &lt;&lt; <span class="stringliteral">&quot;# name: &quot;</span> &lt;&lt; name &lt;&lt; std::endl;</div><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160; 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   blockCCS.<a class="code" href="classg2o_1_1_sparse_block_matrix_c_c_s.html#a30586863195a37c6ac87d7fb17376ee7">blockCols</a>().clear();</div><div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;    blockCCS.<a class="code" href="classg2o_1_1_sparse_block_matrix_c_c_s.html#a30586863195a37c6ac87d7fb17376ee7">blockCols</a>().resize(_rowBlockIndices.size());</div><div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;    <span class="keywordtype">int</span> numblocks = 0;</div><div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; blockCols().size(); ++i) {</div><div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;      <span class="keyword">const</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaa6ca1ae454ed70f62992b6401645f4e">IntBlockMap</a>&amp; row = blockCols()[i];</div><div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160; 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     }</div><div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;    }</div><div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;    <span class="keywordflow">return</span> numblocks;</div><div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;  }</div><div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;</div><div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00627"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#a0b1e9dc3a24b0ab41d7002396a61c833">  627</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::takePatternFromHash</a>(<a class="code" href="classg2o_1_1_sparse_block_matrix_hash_map.html">SparseBlockMatrixHashMap&lt;MatrixType&gt;</a>&amp; hashMatrix)</div><div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;  {</div><div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;    <span class="comment">// sort the sparse columns and add them to the map structures by</span></div><div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;    <span class="comment">// exploiting that we are inserting a sorted structure</span></div><div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;    <span class="keyword">typedef</span> std::pair&lt;int, MatrixType*&gt; SparseColumnPair;</div><div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix_hash_map.html#ae364a722296b90e32dd6c3a8fbeb49ae">SparseBlockMatrixHashMap&lt;MatrixType&gt;::SparseColumn</a> HashSparseColumn;</div><div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; hashMatrix.<a class="code" href="classg2o_1_1_sparse_block_matrix_hash_map.html#a07d4746ccda502bd815a09aefe42eac6">blockCols</a>().size(); ++i) {</div><div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;      <span class="comment">// prepare a temporary vector for sorting</span></div><div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;      HashSparseColumn&amp; column = hashMatrix.<a class="code" href="classg2o_1_1_sparse_block_matrix_hash_map.html#a07d4746ccda502bd815a09aefe42eac6">blockCols</a>()[i];</div><div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;      <span class="keywordflow">if</span> (column.size() == 0)</div><div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;        <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;      std::vector&lt;SparseColumnPair&gt; sparseRowSorted; <span class="comment">// temporary structure</span></div><div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;      sparseRowSorted.reserve(column.size());</div><div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> HashSparseColumn::const_iterator it = column.begin(); it != column.end(); ++it)</div><div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;        sparseRowSorted.push_back(*it);</div><div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;      std::sort(sparseRowSorted.begin(), sparseRowSorted.end(), CmpPairFirst&lt;int, MatrixType*&gt;());</div><div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;      <span class="comment">// try to free some memory early</span></div><div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;      HashSparseColumn aux;</div><div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;      swap(aux, column);</div><div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;      <span class="comment">// now insert sorted vector to the std::map structure</span></div><div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;      <a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaa6ca1ae454ed70f62992b6401645f4e">IntBlockMap</a>&amp; destColumnMap = blockCols()[i];</div><div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;      destColumnMap.insert(sparseRowSorted[0]);</div><div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 1; j &lt; sparseRowSorted.size(); ++j) {</div><div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;        <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;::IntBlockMap::iterator</a> hint = destColumnMap.end();</div><div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;        --hint; <span class="comment">// cppreference says the element goes after the hint (until C++11)</span></div><div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;        destColumnMap.insert(hint, sparseRowSorted[j]);</div><div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;      }</div><div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;    }</div><div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;  }</div><div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;</div><div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;}<span class="comment">// end namespace</span></div><div class="ttc" id="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry_html_ae2cbccda57352eaf870198940af95e99"><div class="ttname"><a href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#ae2cbccda57352eaf870198940af95e99">g2o::anonymous_namespace{sparse_block_matrix.hpp}::TripletEntry::x</a></div><div class="ttdeci">double x</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:34</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a2d449bb4054991867a9b50b6c0d978eb"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a2d449bb4054991867a9b50b6c0d978eb">g2o::SparseBlockMatrix::transpose</a></div><div class="ttdeci">bool transpose(SparseBlockMatrix&lt; MatrixTransposedType &gt; *&amp;dest) const</div><div class="ttdoc">transposes a block matrix, The transposed type should match the argument false on failure ...</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:138</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_aaca7b38d2e9a18eebf9e6f5957af0cf7"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#aaca7b38d2e9a18eebf9e6f5957af0cf7">g2o::SparseBlockMatrix::block</a></div><div class="ttdeci">SparseMatrixBlock * block(int r, int c, bool alloc=false)</div><div class="ttdoc">returns the block at location r,c. if alloc=true he block is created if it does not exist ...</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:92</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_aca008740c37d2d00b90f696ab19abb59"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#aca008740c37d2d00b90f696ab19abb59">g2o::SparseBlockMatrix::_colBlockIndices</a></div><div class="ttdeci">std::vector&lt; int &gt; _colBlockIndices</div><div class="ttdoc">vector of the indices of the blocks along the cols </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:215</div></div>
<div class="ttc" id="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry_html_a3c423a9ef45d82b5a0df3801a29b38f7"><div class="ttname"><a href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#a3c423a9ef45d82b5a0df3801a29b38f7">g2o::anonymous_namespace{sparse_block_matrix.hpp}::TripletEntry::c</a></div><div class="ttdeci">int c</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:33</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ae236d56a01ba4d292450a518621b41f8"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ae236d56a01ba4d292450a518621b41f8">g2o::SparseBlockMatrix::_blockCols</a></div><div class="ttdeci">std::vector&lt; IntBlockMap &gt; _blockCols</div><div class="ttdoc">array of maps of blocks. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:218</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_c_c_s_html_a4fc5dfe0a9ff9bd62065ca4b17f25bc1"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_c_c_s.html#a4fc5dfe0a9ff9bd62065ca4b17f25bc1">g2o::SparseBlockMatrixCCS::SparseColumn</a></div><div class="ttdeci">std::vector&lt; RowBlock &gt; SparseColumn</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_ccs.h:75</div></div>
<div class="ttc" id="namespaceg2o_1_1internal_html_a3beb413c2d04c629c60a8ce5e05ddf8f"><div class="ttname"><a href="namespaceg2o_1_1internal.html#a3beb413c2d04c629c60a8ce5e05ddf8f">g2o::internal::axpy</a></div><div class="ttdeci">void axpy(const MatrixType &amp;A, const Eigen::Map&lt; const Eigen::VectorXd &gt; &amp;x, int xoff, Eigen::Map&lt; Eigen::VectorXd &gt; &amp;y, int yoff)</div><div class="ttdef"><b>Definition:</b> matrix_operations.h:36</div></div>
<div class="ttc" id="classg2o_1_1_matrix_structure_html_a7984bf429b8694070ab8db5f5852d8bb"><div class="ttname"><a href="classg2o_1_1_matrix_structure.html#a7984bf429b8694070ab8db5f5852d8bb">g2o::MatrixStructure::Aii</a></div><div class="ttdeci">int * Aii</div><div class="ttdoc">row indices of A, of size nz = Ap [n] </div><div class="ttdef"><b>Definition:</b> matrix_structure.h:57</div></div>
<div class="ttc" id="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry_html"><div class="ttname"><a href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html">g2o::anonymous_namespace{sparse_block_matrix.hpp}::TripletEntry</a></div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:31</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ab818f8923b845d08a38e8de1145fbb65"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ab818f8923b845d08a38e8de1145fbb65">g2o::SparseBlockMatrix::blockCols</a></div><div class="ttdeci">const std::vector&lt; IntBlockMap &gt; &amp; blockCols() const</div><div class="ttdoc">the block matrices per block-column </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:178</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_hash_map_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_hash_map.html">g2o::SparseBlockMatrixHashMap</a></div><div class="ttdoc">Sparse matrix which uses blocks based on hash structures. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_ccs.h:215</div></div>
<div class="ttc" id="namespaceg2o_1_1internal_html_ad176878dff85b91f1dbabed52cbf696e"><div class="ttname"><a href="namespaceg2o_1_1internal.html#ad176878dff85b91f1dbabed52cbf696e">g2o::internal::atxpy</a></div><div class="ttdeci">void atxpy(const MatrixType &amp;A, const Eigen::Map&lt; const Eigen::VectorXd &gt; &amp;x, int xoff, Eigen::Map&lt; Eigen::VectorXd &gt; &amp;y, int yoff)</div><div class="ttdef"><b>Definition:</b> matrix_operations.h:54</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ab0bd9c6d5b7b8704af1bc679032382e3"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ab0bd9c6d5b7b8704af1bc679032382e3">g2o::SparseBlockMatrix::_rowBlockIndices</a></div><div class="ttdeci">std::vector&lt; int &gt; _rowBlockIndices</div><div class="ttdoc">vector of the indices of the blocks along the rows. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:214</div></div>
<div class="ttc" id="classg2o_1_1_matrix_structure_html_a9cceed2097dcbaa27ed88b7005440616"><div class="ttname"><a href="classg2o_1_1_matrix_structure.html#a9cceed2097dcbaa27ed88b7005440616">g2o::MatrixStructure::m</a></div><div class="ttdeci">int m</div><div class="ttdoc">A is m-by-n. m must be &gt;= 0. </div><div class="ttdef"><b>Definition:</b> matrix_structure.h:55</div></div>
<div class="ttc" id="namespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div></div>
<div class="ttc" id="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_cmp_pair_first_html_a5446ea4001b47b4d4f83cee9d13b07d4"><div class="ttname"><a href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_cmp_pair_first.html#a5446ea4001b47b4d4f83cee9d13b07d4">g2o::anonymous_namespace{sparse_block_matrix.hpp}::CmpPairFirst::operator()</a></div><div class="ttdeci">bool operator()(const std::pair&lt; T1, T2 &gt; &amp;left, const std::pair&lt; T1, T2 &gt; &amp;right)</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:47</div></div>
<div class="ttc" id="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_cmp_pair_first_html"><div class="ttname"><a href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_cmp_pair_first.html">g2o::anonymous_namespace{sparse_block_matrix.hpp}::CmpPairFirst</a></div><div class="ttdoc">Helper class to sort pair based on first elem. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:46</div></div>
<div class="ttc" id="classg2o_1_1_matrix_structure_html_aeda2f4fd97499545773af331cd2c10f2"><div class="ttname"><a href="classg2o_1_1_matrix_structure.html#aeda2f4fd97499545773af331cd2c10f2">g2o::MatrixStructure::alloc</a></div><div class="ttdeci">void alloc(int n_, int nz)</div><div class="ttdoc">allocate space for the Matrix Structure. </div><div class="ttdef"><b>Definition:</b> matrix_structure.cpp:55</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_hash_map_html_a07d4746ccda502bd815a09aefe42eac6"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_hash_map.html#a07d4746ccda502bd815a09aefe42eac6">g2o::SparseBlockMatrixHashMap::blockCols</a></div><div class="ttdeci">const std::vector&lt; SparseColumn &gt; &amp; blockCols() const</div><div class="ttdoc">the block matrices per block-column </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_ccs.h:245</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_col_sort_html"><div class="ttname"><a href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_col_sort.html">g2o::anonymous_namespace{sparse_block_matrix.hpp}::TripletColSort</a></div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:37</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_af9b8a9cb09a88bc444775a9974db8760"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#af9b8a9cb09a88bc444775a9974db8760">g2o::SparseBlockMatrix::SparseBlockMatrix</a></div><div class="ttdeci">SparseBlockMatrix()</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:62</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ab2f7376cbf055803fda6527dcc43e3be"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">g2o::SparseBlockMatrix::SparseMatrixBlock</a></div><div class="ttdeci">MatrixType SparseMatrixBlock</div><div class="ttdoc">this is the type of the elementary block, it is an Eigen::Matrix. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:66</div></div>
<div class="ttc" id="classg2o_1_1_matrix_structure_html"><div class="ttname"><a href="classg2o_1_1_matrix_structure.html">g2o::MatrixStructure</a></div><div class="ttdoc">representing the structure of a matrix in column compressed structure (only the upper triangular part...</div><div class="ttdef"><b>Definition:</b> matrix_structure.h:36</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_aaad7b1558369203795419345ee014852"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">g2o::SparseBlockMatrix::rows</a></div><div class="ttdeci">int rows() const</div><div class="ttdoc">rows of the matrix </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:71</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html">g2o::SparseBlockMatrix</a></div><div class="ttdoc">Sparse matrix which uses blocks. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:62</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_c_c_s_html_a30586863195a37c6ac87d7fb17376ee7"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_c_c_s.html#a30586863195a37c6ac87d7fb17376ee7">g2o::SparseBlockMatrixCCS::blockCols</a></div><div class="ttdeci">const std::vector&lt; SparseColumn &gt; &amp; blockCols() const</div><div class="ttdoc">the block matrices per block-column </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_ccs.h:94</div></div>
<div class="ttc" id="structg2o_1_1_sparse_block_matrix_c_c_s_1_1_row_block_html"><div class="ttname"><a href="structg2o_1_1_sparse_block_matrix_c_c_s_1_1_row_block.html">g2o::SparseBlockMatrixCCS::RowBlock</a></div><div class="ttdoc">A block within a column. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_ccs.h:67</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_af14b7aaa588b339f2c06793fcc0d4e09"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#af14b7aaa588b339f2c06793fcc0d4e09">g2o::SparseBlockMatrix::clear</a></div><div class="ttdeci">void clear(bool dealloc=false)</div><div class="ttdoc">this zeroes all the blocks. If dealloc=true the blocks are removed from memory </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:68</div></div>
<div class="ttc" id="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_col_sort_html_a600a65b4797374baef2e49ea1b293bb8"><div class="ttname"><a href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_col_sort.html#a600a65b4797374baef2e49ea1b293bb8">g2o::anonymous_namespace{sparse_block_matrix.hpp}::TripletColSort::operator()</a></div><div class="ttdeci">bool operator()(const TripletEntry &amp;e1, const TripletEntry &amp;e2) const</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:39</div></div>
<div class="ttc" id="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry_html_a68078c194caa88636a2e8d8ebd8661f8"><div class="ttname"><a href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#a68078c194caa88636a2e8d8ebd8661f8">g2o::anonymous_namespace{sparse_block_matrix.hpp}::TripletEntry::TripletEntry</a></div><div class="ttdeci">TripletEntry(int r_, int c_, double x_)</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:35</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_hash_map_html_ae364a722296b90e32dd6c3a8fbeb49ae"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_hash_map.html#ae364a722296b90e32dd6c3a8fbeb49ae">g2o::SparseBlockMatrixHashMap::SparseColumn</a></div><div class="ttdeci">std::tr1::unordered_map&lt; int, MatrixType * &gt; SparseColumn</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_ccs.h:226</div></div>
<div class="ttc" id="classg2o_1_1_matrix_structure_html_aeeff8e78fb766a433aecbfda4a2e3ffc"><div class="ttname"><a href="classg2o_1_1_matrix_structure.html#aeeff8e78fb766a433aecbfda4a2e3ffc">g2o::MatrixStructure::Ap</a></div><div class="ttdeci">int * Ap</div><div class="ttdoc">column pointers for A, of size n+1 </div><div class="ttdef"><b>Definition:</b> matrix_structure.h:56</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ac9dfcc991976a6c21dcbed961f06282d"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">g2o::SparseBlockMatrix::cols</a></div><div class="ttdeci">int cols() const</div><div class="ttdoc">columns of the matrix </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:69</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ae3f063a5efc2708b41806ac361fd3ca6"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ae3f063a5efc2708b41806ac361fd3ca6">g2o::SparseBlockMatrix::_hasStorage</a></div><div class="ttdeci">bool _hasStorage</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:219</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_aaa6ca1ae454ed70f62992b6401645f4e"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#aaa6ca1ae454ed70f62992b6401645f4e">g2o::SparseBlockMatrix&lt; PoseMatrixType &gt;::IntBlockMap</a></div><div class="ttdeci">std::map&lt; int, SparseMatrixBlock *&gt; IntBlockMap</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:73</div></div>
<div class="ttc" id="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry_html_aaf43f6d8813032dff27b030c7eb13d2e"><div class="ttname"><a href="structg2o_1_1anonymous__namespace_02sparse__block__matrix_8hpp_03_1_1_triplet_entry.html#aaf43f6d8813032dff27b030c7eb13d2e">g2o::anonymous_namespace{sparse_block_matrix.hpp}::TripletEntry::r</a></div><div class="ttdeci">int r</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.hpp:33</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_c_c_s_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_c_c_s.html">g2o::SparseBlockMatrixCCS</a></div><div class="ttdoc">Sparse matrix which uses blocks. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_ccs.h:53</div></div>
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